off_highway_general_purpose_radar

The off_highway_general_purpose_radar package provides a receiver node to receive and decode CAN frames of the Bosch General Purpose Radar Off-Highway (GPR) into ROS messages - it implements an off_highway_can::Receiver.

Further information on the Bosch General Purpose Radar Off-Highway (GPR), it's inputs, outputs and how they can be interpreted can be found in the corresponding Technical Customer Documentation (TCD) of the sensor system.

Supported devices

Further information: Radar systems for off-highway applications

Contact: off-highway.beg@bosch.com

Nodes

Receiver

The radar receiver decodes CAN frames into a target list, manages the current list and publishes it cyclically.

All received messages are checked for their cyclic redundancy check (CRC), rolling message counter and age (message not older than parameter allowed_age). If any of these checks do not succeed the received message is not further processed and skipped.

The relevant radar CAN frame IDs to process are specified by the target_base_id and info_id parameters. They should correspond to the first target frame ID and the info frame ID of the radar CAN node and need to be adapted for the specific bus setup. If multiple radar sensors need to be decoded on the same bus just launch multiple receiver nodes with individual *_id parameters.

The target list is published as a list of radar targets or as a point cloud and contains up to 48 targets (sensor limit). Only valid targets in the list are published (measured flag set).

If the receiver node does not receive anything within a configured period (parameter timeout), it will publish a diagnostic error on /diagnostics. Also, the sensor information CAN frame gets published and is checked for the diagnostic status of the radar. On error, the node will publish a diagnostic error on /diagnostics.

Subscribed Topics

• received_messages (can_msgs/Frame)
  • Radar CAN frames to decode

Published Topics

• targets (off_highway_general_purpose_radar_msgs/Targets)
  • Update Rate: configurable with publish_frequency
  • Contains current target list of radar as custom message containing the same information as each target's CAN frame. Mapping to the respective CAN frame is done via the id field.
• targets_pcl (sensor_msgs/PointCloud2)
  • Update Rate: configurable with publish_frequency
  • Contains current target list of radar as point cloud.
• info (off_highway_radar_msgs/Information)
  • Update Rate: On each sensor information CAN frame
  • Contains current sensor information message containing the same information as the respective CAN frame.
• /diagnostics (diagnostic_msgs/DiagnosticArray)
  • Update Rate: On each sensor information CAN frame or if receiver timed out periodically with timeout period
  • Diagnostic status contains statuses from the latest received sensor information and timeout status.

Parameters

See receiver_params.yaml.

Launch files

• receiver.launch: Starts the receiver with the default parameters

Changelog for package off_highway_general_purpose_radar

0.5.1 (2024-03-27)

• Include what you use
• Disable irrelevant warnings for Clang Anonymous structs are used in PCL for type punning: https://github.com/PointCloudLibrary/pcl/issues/2303 Subobject braces are not needed: https://bugs.llvm.org/show_bug.cgi?id=21629 https://gcc.gnu.org/bugzilla/show_bug.cgi?id=25137
• Contributors: Robin Petereit